System and device for guiding and detecting motions of 3-dof rotational target joint

ABSTRACT

Examples of a device for guiding and detecting a motion of a target joints and a motion assistance system such motion guiding devices are described. The motion guiding and detecting device comprises a motion generator and a motion transfer and target interfacing unit to transfer the motion generated by the motion generator to the target joint. The system further includes a motion detection and feedback unit that interfaces with the target, and a controller that interfaces with both the feedback unit and the motion generator to control and coordinate the motion of the motion generator and the target joint.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuing application of U.S. application Ser.No. 15/778,467 filed May 23, 2018, which is U.S. National StageApplication of International application No. PCT/CA2017/050046 filedJan. 16, 2017, which claims priority from U.S. Patent Application No.62/279,798 filed on Jan. 17, 2016. The entirety of all the above-listedapplications are incorporated herein by their reference.

FIELD OF INVENTION

This invention relates generally to spatial orientation guidance systemsand more particularly to a system with motion generation, motiontransfer, target interfacing, feedback, and controller subsystems thatinteract to actively guide or measure three degree-of-freedom rotationalmovements of joints or joint systems capable of three degree-of-freedomrotational movements.

BACKGROUND OF INVENTION

Unless otherwise indicated herein, the materials described in thissection are not prior art to the claims in this application and are notadmitted to be prior art by inclusion in this section.

With respect to exoskeleton applications, an estimated 20,639,200 (7.1%)of non-institutionalized United States residents suffered from anambulatory disability in 2013, while an approximated 2,512,800 (7.2%) ofCanadians reported mobility disablements in 2012. These disabilitiescost an estimated annual equivalent of $375 billion in family caregiversupport, in addition to significant economic and social burdens to thepatient and the healthcare system.

One emergent technology that aims to diminish this health problem andimprove the quality of life for sufferers is the lower-body exoskeleton:wearable robotic systems that completely or partially support theiruser's weight and provide controlled guidance of leg movements, therebyallowing their user to stand and walk. This solution provides benefitsover wheelchair use and other traditional means because it can also helpreduce secondary complications of immobility such as pneumonia, bloodclots, pressure sores, and lowered self-esteem. However, one majorshortcoming of current exoskeleton technologies is a limited range ofmotion about the hip and ankle joints, which are both capable of threerotational degrees-of-freedom (DOFs) in the human body. In general,current technologies actively guide one degree-of-freedom hip-centeredmovements with absent or only passive allowance for one or both of theother DOFs. This design scheme generally results in a serial jointstructure within the exoskeleton device, which has an inherently lowerpayload-to-weight ratio than a parallel structure counterpart.Therefore, this characteristic leads to bulkier than necessary devices.

Furthermore, the instability that arises from kinematic restrictions onhuman joint capabilities often requires attendant use of walking sticksto maintain bodily balance while standing or moving. So, in order tosafely operate the exoskeleton system, a user must coordinate motionswith additional equipment using their upper body. The inconvenience andeffort associated with this requirement causes fewer potential usersfrom adopting the technology and altogether prevents other people fromoperating the devices who could otherwise benefit from the technology ifnot for this requirement.

SUMMARY OF THE INVENTION

In one aspect, a device for guiding and detecting motions of a targetjoint is provided. The device comprises a motion generator configured togenerate a three degree-of-freedom (3-DOF) motion of the target joint, amotion transfer and target interfacing unit configured to convert themotion generated by the motion generator to the target joint so that thetarget joint moves with a 3-DOF about its own center of rotation, and acontroller that is in communication with the motion generator and themotion transfer and target interfacing unit to control the motiongenerator and the motion transfer and target interfacing unit. Themotion generator comprises a plurality of actuators and a network ofjoints and linkages to mechanically interconnect the plurality ofactuators and connect the motion generator to one end of the motiontransfer and target interfacing unit. The coordinated movements of theactuators, joints, and linkages provide the 3-DOF rotational motion ofthe target joint. The motion transfer and target interfacing unitcomprises at least one rotary joint, at least one linear-motion jointand a network of linkages interconnecting the least one rotary joint andthe at least one linear-motion joint and connecting the motion transferand target interfacing unit to the motion generator and the targetjoint. The controller comprises an input unit, an output unit and aprocessing unit, and is configured to send output signals to the motiongenerator and/or motion transfer and target interfacing unit to controlthe driver of the plurality of actuators.

The motion guiding device further comprises a motion detection andfeedback unit in communication with the motion generator and thecontroller. The motion detection and feedback unit comprises a pluralityof sensors to detect a position and/or an orientation of the actuatorsof the motion generator and/or motion transfer and target interfacingunit, and a position and/or an orientation of the target joint. Themotion detection and feedback unit further feeds the detected signals tothe controller.

In one aspect, the target is a human hip joint. The device furthercomprises a means to mount and secure the motion guiding device to auser. The mounting means comprise one or more adjustable straps and oneor more orthotics.

In one aspect, the motion guiding device is a human joint exoskeleton.

In another aspect, the target joint is a ball-and-socket joint and themotion guiding device is a camera positioning device or propellerorientation control device.

In another aspect, the target joint is a 3-DOF joint and the motionguiding and detecting device is remote motion generation and guidingdevice.

In one aspect, a motion assistance system is provided. The systemcomprises a first motion guiding and detecting device for guiding motionof a first target, at least one additional motion guiding and detectingdevice for guiding motion of another target, a controller incommunication with the first motion guiding and detecting device and theat least one additional motion guiding and detecting device tocoordinate motions of the multiple targets and a means to mount andsecure the motion assistance system to a user such that the motionassistance system supports a weight of the user.

In one aspect, a motion capture and force feedback system is provided.The system comprises a first motion guiding and detecting device fordetecting and guiding motion of a first target joint, at least oneadditional motion guiding device for detecting and guiding motion ofanother target joint, a plurality of sensors connected to the first andthe at least one additional motion guiding and detecting devices wherethe plurality of sensors are configured to detect motions of the firstmotion guiding and detecting device and the at least one additionalmotion guiding and detecting device. The system further comprises acontroller in communication with the plurality of sensors to receivedetected signals from the plurality of sensors and calculate a positionand an orientation of each target joints.

In another aspect, the controller of the motion capture and forcefeedback system is pre-programmed to control each of the motion guidingand detecting devices to resist motions of the motion guiding anddetecting devices in certain directions/orientations or to apply forcesto the target joint in certain directions/orientations.

In addition to the aspects and embodiments described above, furtheraspects and embodiments will become apparent by reference to thedrawings and study of the following detailed description.

BRIEF DESCRIPTION OF THE DRAWINGS

Throughout the drawings, reference numbers may be re-used to indicatecorrespondence between referenced elements. The drawings are provided toillustrate example embodiments described herein and are not intended tolimit the scope of the disclosure. Sizes and relative positions ofelements in the drawings are not necessarily drawn to scale. Forexample, the shapes of various elements and angles are not drawn toscale, and some of these elements are arbitrarily enlarged andpositioned to improve drawing legibility.

FIG. 1 is a flowchart of an example of a device for guiding motions of atarget showing its subsystems and their interactions.

FIG. 2 is a side view of an example of a device for guiding motions of apassive 3-DOF joint system used as a hip joint exoskeleton moduleshowing its components and subcomponents connections.

FIG. 3 is a front view an example of a motion assistance system used asan exoskeleton system showing two devices for guiding motions of passive3-DOF joint systems mounted on each side of a human user.

FIG. 4 is a back view of the motion assistance system shown in FIG. 3.

FIG. 5 is a side view of an example of a motion assistance system usedas an exoskeleton system mounted to a human user.

FIG. 6 is a mechanical schematic of an example of a device for guidingmotions of a target showing joint and linkage components with jointmotion capabilities where as labeled ‘R’ designates rotary joints, ‘P’designates prismatic joints, ‘S’ designates ball-in-socket joints,underline designates active joints, no underline designates passivejoints, and ‘*’ designates the target joint for guidance.

FIG. 7 is a side view of another embodiment of a device for guidingmotions of passive 3-DOF joint system used as a hip joint exoskeletonmodule showing its components and subsystem connections.

FIG. 8 is a front view an example of a motion assistance systemcomprising two of motion guiding devices of FIG. 7.

FIG. 9 is a back view of the motion assistance system of FIG. 8 mountedto a human user.

FIG. 10 is a side view of an example of a motion assistance systemmounted to a human user.

FIG. 11 is a mechanical schematic of an example of a device for guidingmotions of a target showing joint and linkage components with jointmotion capabilities where as labeled ‘R’ designates rotary joints, ‘P’designates prismatic joints, ‘S’ designates ball-in-socket joints,underline designates active joints, no underline designates passivejoints, and ‘*’ designates the target joint for guidance.

FIG. 12 is a mechanical schematic of an example of a device for guidingmotions of a target showing joint and linkage components with jointmotion capabilities where as labeled ‘R’ designates rotary joints, ‘P’designates prismatic joints, ‘S’ designates ball-in-socket joints,underline designates active joints, no underline designates passivejoints, and ‘*’ designates the target joint for guidance.

FIG. 13 is a mechanical schematic of an example of a motion transfer andtarget interfacing unit that connects a 3-DOF motion-generation unit anda target joint where two adjacent rotary joints have parallel axes andform a four-bar mechanism with adjacent linkages. As labeled, ‘R’designates rotary joints, ‘P’ designates prismatic joints, and ‘S’designates ball-in-socket joints or a system of joints that act togetherto permit spherical motions.

FIG. 14 is a mechanical schematic of an example of a motion transfer andtarget interfacing unit where two adjacent rotary joints are combined toform a 2-DOF universal joint and the axes of the two adjacent rotaryjoints are perpendicular. As labeled, ‘R’ designates rotary joints, ‘P’designates prismatic joints, and ‘S’ designates ball-in-socket joints ora system of joints that act together to permit spherical motions.

FIG. 15 is a mechanical schematic of the motion transfer and targetinterfacing unit of FIG. 13 where placements of a rotary joint and aprismatic joint are being swapped compared to the motion transfer andtarget interfacing unit illustrated in FIG. 13.

FIG. 16 is a mechanical schematic of the motion transfer and targetinterfacing unit of FIG. 14 where placements of a rotary joint and aprismatic joint are being swapped compared to the motion transfer andtarget interfacing unit illustrated in FIG. 14.

FIG. 17 is a mechanical schematic of the motion transfer and targetinterfacing unit of FIG. 15 in which a rotary joint and a prismaticjoint are combined as a cylindrical joint.

FIG. 18 is a mechanical schematic of the motion transfer and targetinterfacing unit of FIG. 16 in which a rotary joint and a prismaticjoint are combined as a cylindrical joint.

FIG. 19 is a mechanical schematic of an example of a device for guidingmotions of a passive 3-DOF joint system in which a placement of onerotary actuator is moved between a base structure and the other tworotary actuators.

FIG. 20 is a perspective view of an example of motion assistance systemshowing two devices for guiding motions of hip exoskeleton target jointsin which rotary actuators of a motion generator are aligned coaxially.

FIG. 21 is a side view of an example of a motion assistance systemshowing three exoskeleton modules (motion guiding devices) that areconnected in series along a user's leg to produce a complete lower-limbexoskeleton system.

FIG. 22 is a side view of another example of a motion assistance systemshowing three exoskeleton modules that are connected in series along auser's leg to produce a complete lower-limb exoskeleton.

FIG. 23 is a perspective view of an embodiment of a motion assistancesystem mounted to a user and used as a personal-use mobility aid withseveral exoskeleton modules that work in synchronicity with each otherand peripheral components.

FIG. 24 is a perspective view of an example of a motion guiding deviceused for positioning another structure, such as an upper leg, and holdthe upper leg in a locked position.

FIG. 25 is a perspective view of an example of a motion assistancesystem mounted to a user and used as a rehabilitation tool.

FIG. 26 a mechanical schematic of an example of a motion assistancesystem mounted to a user and used as a full-body motion capture device.

DETAILED DESCRIPTION OF SPECIFIC EMBODIMENTS

This invention provides decoupled or combined positioning for all threerotational degrees-of-freedom of a ball-and-socket joint or a quasiball-and-socket joint without applying significant tensile orcompressive forces to the targeted protrusion from such joint. Oneapplication can be a hip exoskeleton or any other human jointexoskeleton, for which the joint targeted for positioning is the humanjoint. Another possible application can be as part of aball-and-socket-based camera positioning system.

FIG. 1 illustrates a device 1000 for guiding motions of threedegree-of-freedom (DOF) joint systems that comprises a 3-DOF motiongenerator 16, a motion transfer and target interfacing unit 27 and atarget joint 53. The motion transfer and target interfacing unit 27 isconfigured to provide decoupled or combined 3-DOF rotational motion orinaction to the target joint 53. The target 53 may be any structurecontaining a 3-DOF rotational joint (e.g. passive ball-and-socketjoint), or a quasi-3-DOF rotational joint (e.g. a hip joint of amobility disabled person), or any other active target joint (e.g. hipjoint able to have complete or partial mobility by human). The activetarget joint is defined as any target joint that has an ability toperform a 3-DOF rotational movement on its own without assistance of anexternal motion assistance device. For example, a human hip joint is anactive joint since it can move on its own, however, in case when aperson is incapable of producing motion (e.g. they are paralyzed) andthe hip joint (or any other human joint) is only moved using a motionassistance device, then such human joint can be considered a passivetarget joint. So, in general, any joint capable of producing its ownmovement is considered active while a joint that is moved only usingsome structure (actuators) is considered passive joints. In practice,there might be a situation where a joint is capable to move (active),but with extra assistance it can be faster, longer, better, etc.

The motion generator 16 conveys mechanical action to the target joint 53via the motion transfer and target interfacing unit 27, which physicallysupports the target 53 in some extent and converts action from themotion generator 16 to the desired movements of the target 53. Thedevice 1000 further comprises a control unit 28 and a motion detectionand feedback unit 35. The control unit 28 can comprise one or moreinput/output units and a processing unit. The input unit can comprisefor example a joystick/keyboard, a touch screen, a voice recognitionunit or any other user interface to input anycommand/instructions/parameters while an output unit can comprise anactuator driver unit to send trigger signals to, for example, the motiongenerator 16. The controller 28 can further comprise one or moremicrocontrollers, a power supply unit, a predefined signal processingunit for signal conditioning or signal filtering (e.g. filtering orcalibrating signals obtained as an input), etc. For example, in oneimplementation, the control unit 28 can receive signals from anElectromyograph (EMG) and/or Electroencephalograph (EEG) as an input.The EMG is a device that is used to detect the electrical activity ofthe muscles and EEG is used to detect the electrical activity of thebrain. The signals obtained from the EMG and/or EEG are processed by theprocessing unit of the controller 28 to determine the desired motion ofthe target joint 53 and then trigger signals are sent to the motiongenerator 16 to generate such motion. The EMG and EEG can be, forexample, part of the motion detection and feedback unit 35. The motiondetection and feedback unit 35 can further comprise at least one of aninertial measurement unit, a rotary encoder sensor, a linear encodersensor, a rotary potentiometer sensor, a linear potentiometer sensor, aresolver, a linear variable differential transformer, to detect aposition and an orientation of the target 53 and/or a position and anorientation of each actuators 5-7 (see FIG. 2) of the motion generator16 and feed such signals as an input to the controller 28.

FIG. 2 illustrates the device 1000 for guiding and detecting motions ofa three degree-of-freedom (DOF) joint system of the present inventionused as a hip joint exoskeleton module. An ergonomic adjustable-lengthstrap 1 and a trunk orthotic 2 can be used to attach the device 1000 tothe human body, for example adjacent to the hip joint, so that thedevice 1000 can be easily mounted for use or taken off when not in use.This is for illustrational purposes only and person skilled in the artwould understand that the device 1000 can be used for guiding anddetecting motions of any other human target joint (i.e. a knee, anankle, a shoulder, a wrist, an elbow, a finger, etc.) or any othertarget joint (i.e. a ball-and-socket spherical joint) without departingfrom the scope of the invention.

Attached to the trunk orthotic 2 is the 3-DOF rotational motiongenerator 16 that can comprise an actuator base structure 4 which canrigidly support three rotary actuators 5-7. The actuators 5-7 caninterface with corresponding gearheads 8-10. The gearheads 8-10 arealternative and, in some implementations, they can be omitted. Eachgearhead 8-10 or rotary actuator 5-7, if the former is absent, connectsto a distal linkage 11. Sequentially, each distal linkage 11 connects toa proximal linkage 12 via a passive 1-DOF rotary joint 13. Each proximallinkage 12 in turn connects to a moving component, such as a movingplate 14, via another passive 1-DOF rotary joint 15.

Moving plate 14 is attached to a linkage 17, which connects to anotherlinkage 18 by way of a passive 1-DOF rotary joint 19. Sequentially, theaforementioned linkage 18 connects to yet another linkage 20 via anotherpassive 1-DOF rotary joint 21. This final linkage 20 is attached to asliding component 22 (see FIG. 3) of a linear-motion joint. Thelinear-motion joint can be for example a passive 1-DOF prismatic joint,a 2-DOF cylindrical joint or a linear motor, in which the slidingcomponent 22 is configured to slide up and down along a correspondingtrack component 23. The track component 23 is connected to an ergonomicupper leg orthotic structure 24 with attached straps 25 that facilitateinterface with the user's upper leg 26 (see FIG. 3). With respect tothis embodiment of the device 1000, the components 1, 2, 17-25 are partof the motion transfer and target interfacing unit 27 while components4-15 are part of the motion generator 16. Person skilled in the artwould understand that any of the passive rotary or prismatic joints ofthe motion generator 16 and/or the motion transfer and targetinterfacing unit 27 can be replaced with an active rotary/linear joints,such as for example rotary/linear actuators, without departing from thescope of the invention.

Generally, for supporting the 3-DOF motion required by target joint 53,the motion generator 16 and the motion transfer and target interfacingunit 27 collectively can contain at least three actuators. For example,in a 2-DOF agile eye type of joint, the motion generator 16 can comprisetwo actuators while the motion transfer and target interfacing unit 27can comprise one actuator. The number of the actuators can be reduced orreplaced by passive rotary or prismatic joints according to the numberof the DOFs of the target 53 that doesn't require actuation. Any and allactuators of the motion generator 16 and/or the motion transfer andtarget interfacing unit 27 can be selected from an electric motor, apneumatic motor, a hydraulic motor or any other motor or combinationthereof. In one implementation, the actuators can be located remotelyfrom the motion guiding and detecting device (e.g. in a backpack carriedby the user) and can actuate the motion generation by a drive-by-wire.The purpose of the motion transfer and target interfacing unit 27 is toconnect and transfer motions between the motion generator 16 and thetarget joint 53 or to contribute to the motion guiding device'sactuation if an actuator is included in the motion transfer unit 27.

The controller 28 is in communication with the motion generator 16 andcan trigger such motion generator 16 to achieve a desired action orinaction of the target joint 53. This controller 28 can include asoftware execution commanding to trigger the actuators 5-7 via anappropriate driver subsystem. Additionally, the controller 28 can beprogrammed to receive control signals from the electromyograph,electroencephalograph, or the instructions can be inputted directly viajoystick, keyboard or other input unit, or the controller's software maybe executed based on a predefined routine pre-programmed therein.Furthermore, the controller 28 can receive input information from themotion detection and feedback unit 35 that interfaces with and monitorsthe target 53 and the actuators 5-7. The motion detection and feedbackunit 35 may acquire information on the target joint's state using one ormore inertial measurement units, rotary encoder sensors, linear encodersensors, rotary potentiometer sensors, linear potentiometer sensors,resolvers, linear variable differential transformers, foot forcesensors, etc. or a combination of the above. In one implementation,sensors of the motion detection and feedback unit 35 can interface withand monitor the position and/or orientation of the actuators 5-7. In oneimplementation, the sensors of the motion detection and feedback unit 35may detect the position and/or the orientation of the target joint 53,in applications such as to identifying user's intention and/or toelectronically store sensor readings for later transfer to a computer(controller) to collect error information and/or motion capture data.

As shown in FIG. 2, rotary actuators 5-7 receive control signals fromthe controller 28 via connections 29-31 respectively. Furthermore,sensors 32-34 are respectively attached to the rotary actuators 5-7 toprovide information to the motion detection and feedback unit 35 viaconnections 36-38. Additionally, a sensor package 39 provides data tothe motion detection and feedback unit 35 via connection 40. The motiondetection and feedback unit 35 provides information to the controller 28via connection 41. When applicable, the controller 28 receives and/orsends data to a similar controller of another device 1000 forcoordinating movements (e.g. two exoskeleton units could coordinate gaitmovements) via connection 42. All of the above connections 29-31, 36-38,and 40-42 may be wired or wireless.

FIGS. 3 and 4 show a motion assistance system 4000 mounted to a user 3.The motion assistance system 4000 can comprise two of the motion guidingand detecting devices 1000, 1000 a that are mounted on each side of theuser 3 (e.g. one per each hip of the user 3). The controller 28 of oneof the devices 1000 is in communication with a controller of the otherdevice 1000 a to synchronize and coordinate their movements. The twocontrollers can identify user's intention based on the informationobtained from the respective sensors of the corresponding motiondetection and feedback units and can then send the appropriatetriggering signal to the drivers of the actuators of the respectivemotion generation units to generate specific motion. In oneimplementation, the controller 28 of the first motion guiding anddetecting device 1000 can be in communication with the motion generatorand the motion detection and feedback unit of the second device 1000 asuch that a single controller 28 can control the movement of the bothmotion guiding and detecting devices 1000, 1000 a.

FIG. 5 illustrates a motion assistance exoskeleton system 4000 used asan aid device to help the user during walking operation. As depicted inFIG. 5, the respective coordinated actions 43-45 of the rotary actuators5-7 generate 3-DOF rotary motion 46 of the moving plate 14 about itscenter of rotation point that does not coincide with the center ofrotation of the hip joint. The linkage 17 also experiences a 3-DOFrotary motion about that point because it is attached to the movingplate 14. Motion of the linkage 17 produces synchronized responses 47and 48 of the passive rotary joints 19 and 21 along with the response 49of the passive prismatic joint resulting in an interaction between thesliding component 22 and the track component 23. FIG. 6 more clearlyillustrates the correlation between actions of the actuators 5-7 andcorresponding motion and actions of the respective linkages and passivejoints. The combination of the above motions 43-49 result in a motionresponse by the target joint, such as the user's hip joint 50 (i.e.upper leg's motion with respect to the pelvis 51) in one or anycombination of its 3-DOF rotation capabilities 52 when the exoskeletonsystem is properly interfaced with the human body via the motiontransfer and target interfacing unit 27. The system of linkages 17, 18and 20, and the passive rotary and prismatic joins 19, 21 and thesliding component 22, interconnected as described above provide 3-DOFmotion with a center of rotation that coincide with the center ofrotation of the hip joint, despite the fact that the center of rotationof the moving plate 14 of the motion generation unit 16 does not overlapwith the center of rotation of the hip target joint 50. Thus, the motiongeneration unit 16 can be mounted away from the hip and the motiontransfer and target interfacing unit 27 will allow 3-DOF motion of thehip target joint 50 about the center of rotation of such target 50 (oran arbitrary point in space). The motions 43-49 and the user's hip jointresponse are all facilitated by the collective DOFs of the passive (orin some implementations active) rotary and/or prismatic joints.

The target joint 53 in FIGS. 3-5 corresponds to the hip joint 50,between the user's upper leg 26 and pelvis 51. As described hereinabove, the target 53 is considered passive as long as the user does notprovide sufficient exertion on the hip joint to cause motion about it orhold it in place when subject to external torques. For example, ifrotary actuators 5-7 each hold their angular position constant, the restof the system and the user's hip joint will also cease motion and retainthe positional states of the moment (i.e. aside from any minor transientresponses). Furthermore, with regard to any interfaced protrusion fromthe target joint 53, the motion transfer and target interfacing unit 27prevents or minimizes forces along the protrusion's axis passing throughthe target joint 53, thereby reducing the risk of damage to the targetjoint 53.

FIG. 7 depicts another embodiment of a device 2000 for guiding anddetecting motions of a 3-DOF joint system of the present invention. Thedevice 2000 can also be used as a hip exoskeleton joint. An ergonomicadjustable-length strap 54 and a trunk orthotic 55 can be attached tothe human body superior to the hip joint (i.e. at the user's trunk 3) inpreparation for to device to be used or easily taken off when not inuse. Attached to the trunk orthotic 55 is a base structure 56, whichrigidly supports two passive spherical joints 57-58 and one passiveuniversal joint 59. The spherical joints 57-58 may alternatively consistof three passive 1-DOF rotary joints, while the universal joint 59 mayalternatively consist of two passive 1-DOF rotary joints. Both of thespherical joints 57-58 connect the base structure 56 to separate linearactuators 60-61, while the universal joint 59 connects the basestructure 56 to a rotary actuator 62. These actuators may or may notinterface with corresponding gearheads 74-76. The actuated bodies of thelinear actuators 60-61 connect to corresponding universal joints 63-64,each of which may alternatively be realized as two passive 1-DOF rotaryjoints. Sequentially, both universal joints 63-64 attach to a singletrack component 65. Additionally, the gearhead or the rotary actuator62, if the former is absent, connects to the same track component 65 ata different point such that the rotary actuator's axis of rotation isparallel to the longitudinal axis of the track component 65. Withrespect to this specific embodiment, components 56-64 comprise the 3-DOFrotational motion generation unit 16.

A sliding component 66 interacts with the track component 65 to create alinear-motion (i.e. a prismatic or a cylindrical) joint. In turn, thesliding component 66 connects to a passive 1-DOF rotary joint 67 whichconnects to another non-parallel and passive 1-DOF rotary joint 68.Sequentially, the 1-DOF rotary joint 68 attaches to an ergonomic upperleg orthotic structure 69 with straps 70 that facilitate interface withthe user's upper leg 26. For this embodiment, the components 54, 55, and65-70 are part of the motion transfer and target interfacing unit 27.The passive rotary or linear joints of the motion generator 16 and/orthe motion transfer and target interfacing unit 27 can be replaced withan active rotary/linear joints, such as for example rotary/linearactuators, without departing from the scope of the invention

As shown in FIG. 7, the linear actuators 60-61 and the rotary actuator62 receive signals from the controller 28 via connections 71-73respectively. Furthermore, sensors 74-76 are respectively attached tothe actuators 60-62 and provide information to the motion detection andfeedback unit 35 via connections 77-79. Additionally, a sensor package80 provides data to the motion detection and feedback unit 35 viaconnection 81. The motion detection and feedback unit 35 providesinformation to the controller 28 via connection 82. When applicable, thecontroller 28 receives and/or sends data to a controller of anotherdevice 2000 for coordinating movements (e.g. two devices couldcoordinate gait movements) via connection 83. All of the aboveconnections 71-73, 77-79, and 81-83 may be wired or wireless.

FIGS. 8, 9 and 10 show a motion assistance system 5000 that comprisestwo of the motion guiding and detecting devices 2000 mounted on eachside of a user 3. FIGS. 8-10 show only one motion guiding and detectingdevice 2000 but person skilled in the art would understand that themotion assistance system 5000 can comprise two such devices 2000 mountedon each side of the user 3 (one device per side). In someimplementations (see FIGS. 21-23), the motion assistance system cancomprise two or more guiding and detecting devices connected in seriesand mounted at one side of the user to guide the motions of differenttarget joints, e.g. hip, knee and ankle joints or any other human targetjoints (i.e. shoulder, wrist, elbow, finger joints, etc.). As depictedin FIG. 10, the coordinated actions 84-86 of the actuators 60-62generate 3-DOF rotary motion 87 of the track component 65 about a centerof rotation point coincident to the rotational center of the universaljoint 59. Motion of the track 65 produces synchronized responses 88 and89 of the passive rotary joints 67 and 68 along with the response 90 ofthe passive prismatic joint resulting from the interaction between thesliding component 66 and the track component 65. The combination of theabove motions 84-90 result in a motion response by the user's hip joint50 (i.e. upper leg 26 motion with respect to the pelvis 51) in one orany combination of its 3-DOF rotation capabilities 52 when theexoskeleton device is properly interfaced with the human body via themotion transfer and target interfacing unit 27. The motions 84-90 andthe user's hip joint response are all facilitated by the collective DOFsof the embodiment's passive joints. In another aspect, if the actuators60-62 each hold their angular position constant, the rest of the systemand the user's hip joint will also cease motion and will retain thepositional states of the moment (i.e. aside from any minor transientresponses). The target 53 is considered passive as long as the user doesnot provide sufficient exertion on the hip joint to cause motion aboutit or hold it in place when subjected to external torques. FIG. 11 moreclearly illustrates the correlation between actions of the actuators andthe corresponding motion and actions 84-90.

In another embodiment of a device 3000 for guiding motions of 3-DOFjoint systems depicted in FIG. 12, a rotary actuator and possiblegearhead 91 are attached to a passive rotary joint 92 via a linkage 93at one end and a base structure 94 at the other end. A rotary joint 92sequentially connects to a moving plate 95. Additionally, a secondrotary actuator and possible a gearhead 96 are attached to the basestructure 94 at one end and two passive 1-DOF rotary joints 98-99connected in series via linkages 100 and 102; the axes of rotation forthe rotary joints 92, 98, and 99 are mutually perpendicular andintersect at a single point. Another linkage 103 connects a rotary joint99 to the moving plate 95. The moving plate 95 is sequentially attachedto a rotary actuator 104. For this specific embodiment, components91-104 comprise the motion generator 16.

Next, a track component 105 attaches to the rotary actuator 104, and asliding component 106 interfaces with the track component 105 to createa linear motion joint, such as for example a prismatic joint. In turn,the sliding component 106 connects to a passive 1-DOF rotary joint 107which connects to another non-parallel and passive 1-DOF rotary joint108 via consecutive linkages 109, 110. Sequentially, the 1-DOF rotaryjoint 108 attaches to one end of the true or quasi 3-DOF rotationaljoint of the passive target system 53. With respect to this embodiment,components 105-110 and any other required application-specificcomponents comprise the motion transfer and target interfacing unit 27.Similar to the previous embodiments, this embodiment also involvesconnections from actuators 91, 96, 104 to the controller 28 andconnections from relevant sensors to the motion detection and feedbackunit 35.

In another implementation, the passive joints of the motion generator 16and the motion transfer and target interfacing unit 27 can be replacedby active joints. For example, the passive prismatic joint composed ofthe track component 105 and the sliding component 106 can be replacedwith an active linear actuator. For example, the motion guiding anddetecting device can have the same components as the device 3000 of FIG.12 except that the rotary actuator 104 can be replaced with a passiverotary joint and the passive prismatic joint can be replaced with theactive linear actuator. In such implementation, the motion generator 16can have two rotary actuators 91 and 96 and the motion transfer andtarget interfacing unit 27 can comprise one linear actuator, so that thedevice for guiding and detecting motions can still have at least threeactuators for providing 3-DOF rotational motion of the target.

In all of the illustrated examples of the devices for guiding anddetecting motions of the target joints (1000, 2000, 3000) or the motionassistance systems, the actuators and/or their drivers are mechanicallyconnected into such devices/systems, however one can understand thatsuch actuators and/or drivers can be remote from such devices/systems(e.g. can be placed in a backpack carried by a user) and the motion ofthe actuators can be transferred to where it is needed by adrive-by-wire mechanism, flexible shafts, gearing systems, etc., orwirelessly. The actuators can be selected from an electric motor, apneumatic motor, a hydraulic motor or any other motor or combinationthereof.

FIG. 13 depicts the mechanical structure of one embodiment for themotion transfer and target interfacing unit 27. As already mentionedherein above, the motion transfer and target interfacing unit 27 is usedto transfer the 3-DOF motions generated by the motion generator 16 tothe target joint 53. In the illustrated embodiment of FIG. 13, the 3-DOFmotions are transferred from one spherical joint or joint system 111 toanother spherical joint or joint system 112. In such case, the joint orjoint system 111 represents the 3-DOF motion generator 16 while joint orjoint system 112 represents the target 53. Person skilled in the artwould understand that the motion transfer and target interfacing unit 27can transfer the motions from the joint or joint system 112 (which inthis case can be the motion generator 16) to the joint or joint system111 (which can be the target 53) without departing from the scope of theinvention. The motion transfer unit 27 can comprise a linkage 113connecting the motion generator (joint or joint system 111) to a rotaryjoint 114. Another linkage 115 connects the rotary joint 114 to anotherrotary joint 116 which is connected to a prismatic joint 117 via alinkage 118. Another linkage 119 connects the prismatic joint 117 to thetarget (spherical joint or joint system 112). In FIG. 13, the linkagesare not meant to depict any special geometric relation between jointaxes (i.e. perpendicularity, parallelism, etc.) except that the rotaryjoint 114 and the rotary joint 116 have parallel axes and thus form afour-bar mechanism with all adjacent linkages. In cases where the jointor joint system 111 is the target 53, the linkage 113 may be comprisedof several linkage structures affixed to each other. If joint or jointsystem 112 is the target 53, the linkage 119 may be comprised of severallinkage structures affixed to each other.

FIG. 14 depicts the motion transfer and target interfacing unit 27 ofFIG. 13 where the adjacent rotary joints 114 and 116 do not haveparallel axes. For example, rotary joints 114 and 116 can haveperpendicular axes and the two adjacent rotary joints may or may not becombined to form a 2-DOF universal joint. In the illustrated example,the link 115 can have zero (or close to zero) length and the rotaryjoints 114 and 116 can have perpendicular axes. Combining the joints bythis method can achieve a more compact mechanical structure for themotion transfer and target interfacing unit 27. The motion transfer andtarget interfacing unit 27 illustrated in FIG. 15 have swapped aposition of the rotary joint 116 and the prismatic joint 117 in order toalso create a more compact mechanical structure for some applications.Same as with respect to the motion transfer and target interfacing unit27 illustrated in FIG. 13, the linkages illustrated in FIG. 15 are notmeant to depict any special geometric relation between joint axes (i.e.perpendicularity, parallelism, etc.). FIG. 16 depicts the motiontransfer and target interfacing unit 27 of FIG. 14 with the placementsof the rotary joint 116 and the prismatic joint 117 being swapped.

FIGS. 17 and 18 each depicts the motion transfer and target interfacingunit 27 of FIGS. 15 and 16 where the length of the respective linkage115, 118 is zero. With respect to the motion transfer and targetinterfacing unit 27 of FIG. 18, the axes of the rotary joint 114 and theprismatic joint 117 are parallel, and the rotary joint 114 and theprismatic joint 117 are combined as a cylindrical joint 120 to increasecompactness and simplicity of the mechanical structure. Similarly, withrespect to the motion transfer and target interfacing unit 27 of FIG.18, the axes of the rotary joint 116 and the prismatic joint 117 areparallel, and the rotary joint 116 and the prismatic joint 117 arecombined as a cylindrical joint 121 to increase compactness andsimplicity of the mechanical structure.

FIG. 19 depicts an example of the device 3000 for guiding motions of apassive 3-DOF joint system of FIG. 12 except that the placement of therotary actuator 104 is moved between the base structure 94 and therotary actuators 91 and 96. Attendant to this adjustment is theintroduction of a linkage 122, which connects an output shaft of therotary actuator 104 to both rotary actuators 91 and 96.

In one implementation, any of the devices 1000, 2000 or 3000 disclosedherein can be used as components of a motion assistance system, such asan exoskeleton, that can be used to move the joints and the bodysegments of a user. The motion assistance system can comprise at leasttwo of the devices 1000, 2000, 3000 in communication with each other togenerate a coordinated movement of two or more different joints and bodysegments (targets). For example, a single controller can be used tocontrol the movement of the two or more motion guiding and detectingdevices 1000, 2000, 3000 interconnected to form the motion assistancesystem. The controller can identify user's intention based on theinformation obtained from the sensors of the motion detection andfeedback units and can then send the appropriate control signal to thedrivers of the actuators of the motion generation units and the motiontransfer and target interfacing units (in cases where the motiontransfer unit comprises an actuator) to generate a specific motion. Theinput to the controller might be from the user's nerve system (viaelectroencephalograph), a voice recognition unit, feet contact force, atracking system that can, for example, detect a predetermined headmotion or eye tracking, etc. The controller can also use sensors (e.g.IMU sensors) input data to detect the balance of the user and tomaintain it by providing proper triggering commands to the actuators. Inone embodiment, the motion assistance device (i.e. the exoskeleton) canbe equipped with an airbag or an active cushion system that can bedeployed upon a fall detection. The airbag can use conventional chemicalreaction for inflation or can use other reversible methods such ascompressed air, high speed fans, or compressible soft materials such aspolyurethane foam. An actuation mechanism, such as the drivers of theactuators, can be electric, pneumatic, hydraulic, etc. In case ofelectric drivers, the motion assistance system (exoskeleton) can bebattery powered and can be equipped with a battery and a powermanagement circuit board. The motion assistance system can be configuredto move the user to a safe body position, such as sitting or laying, incase of emergency. For example, FIG. 20 depicts a motion assistancesystem 6000 showing two devices 1000, 1000 a for guiding motions of hipexoskeleton joints (two hip exoskeleton modules 1000, 1000 a) in whichrotary actuators of the motion generator 16 are aligned coaxially.

FIG. 21 shows another motion assistance system showing three exoskeletonmodules (motion guiding and detecting devices) that are connected inseries along a user's leg to produce a complete lower-limb exoskeletonsystem 7000. For example, one of the exoskeleton modules can be themotion guiding and detecting device 3000 (illustrated in FIG. 12) thatcan be attached at the pelvis and upper leg of the user 3, surroundingthe biological hip joint. Attached across the user's knee joint 123, aknee exoskeleton module 1500 is comprised in general of a 3-DOF motionguiding and detecting device as explained herein before or it cancomprise a rotary actuator 124 (or a linear actuator), which is fixed toan upper leg orthotic 125 and is connected to a track linkage 126 at itsoutput shaft. A sliding linkage 127 interfaces with the track linkage126 as a linear-motion joint. The lower end of the sliding linkage 127attaches to a passive rotary joint 128, which in turn connects to thelower leg orthotic 129. The third exoskeleton module can also be amotion guiding device 3000 that surrounds the user's ankle joint toguide its motions.

Similar to FIG. 21, FIG. 22 depicts the motion assistance system 7000with three exoskeleton modules that are connected in series along auser's leg to produce a complete lower-limb exoskeleton. The two of theexoskeleton modules can be designed as the motion guiding and detectingdevice 1000 which can be attached to the user 3 surrounding thebiological hip joint and the biological ankle joint. The kneeexoskeleton module can be equivalent to the device 1500 described withrespect to FIG. 21.

FIG. 23 depicts an example of a motion assistance system 8000 in whichseveral exoskeleton modules work in synchronicity with each other andperipheral components to comprise a personal-use mobility aid. Forexample, the motion guiding and detecting device 1000 can be mounted tothe user's body 3 and used for guiding motions of the hip and ankletarget joints. The knee exoskeleton modules 1500 can also be mounted tothe user surrounding the knee joint and can be used to guide motions ofthe biological knee target joints. The system 8000 can further comprisea backpack that contains a portable power supply and attendantelectronics 130 required to power the mobility aid system 8000. In oneimplementation, the drivers of the actuators of the motion guiding anddetecting devices can also be placed in the backpack. A wearableelectronic device 131 can communicate wirelessly with the controller(s)28 of the motion guiding devices 1000, 1500 to permit touchscreen inputand/or voice input and human-machine interfacing.

In one embodiment, the components of the exoskeleton can be rearrangedto convert it to a motion guiding system for positioning anotherstructure. One example of such application can be an orthopedic surgicalsystem to assist a surgeon to position limbs in a desired orientation.The motion guiding and detecting device can be single device 1000, 2000,3000 or a combination of two or more of such devices 1000, 2000, 3000that are in communication or interconnected together. The motion guidingand detecting device can be fixed to an external fixture so that themoving platform (e.g. moving plate 14) of the actuators can be connectedto the structure to be positioned via the motion transfer mechanism 27.The desired position of the structure can then be achieved by commandingthe actuator system via its controller. FIG. 24 depicts a motion guidingdevice 1000 in which the base of the device 1000 is connected to amounting arm 132, which in turn attaches to the operating table 133. Themounting arm 132 is capable of spatially positioning the device's baseas well as clamping the base to a fixed position with respect to theoperating table 133. The device 1000 can then be used to lift andposition the leg of the patient (or other human body segments) and holdsuch leg in a locked position so that the patient's hip 50 is positionedand orient in an appropriate position for surgery. The input interfacefor the user can be set with a joystick, a virtual reality unit, akeyboard, voice recognition unit or a pre-set orientation parameters canbe set in an options module. In one implementation, the actuators of themotion guiding and detecting device can also be replaced with lockablejoints. In this arrangement, the surgeon/operator can move theleg/object until the desired position/orientation is reached and thenlock the position/orientation by locking the actuators/joints of themotion guiding and detecting device.

In another implementation, the motion assisting system of the presentinvention can be employed as a robotic rehabilitation tool. For example,a physiotherapist can secure a patient to the motion assistanceexoskeleton system using the straps in order to support the weight ofthe user and can then program the exoskeleton to help patients limbthrough some repetitive exercises. FIG. 25 depicts one example of amotion assistance system 9000 used as a rehabilitation system. Thesystem 9000 comprises two motion guiding and detecting devices 1000where their bases are attached to a treadmill device 134. The other endsof the devices 1000 are attached to the upper legs of a human user 3.The user's body weight is supported by straps 135 suspended from a crane136 attached to the treadmill device base. The devices 1000 guide theuser's hip joint motions during gait training exercises on the treadmilldevice 134. In one implementation, only one motion guiding device 1000,2000, 3000 can be used instead of the lower limb exoskeleton, forexample for ankle rehabilitation purposes. The therapists can monitorthe progress of patients on site or remotely by receiving the processeddata from the exoskeleton's controller. The data can be accessed bydirect log into the controller or the data can be transferred to thetherapists via wired/wireless data transfer. The therapist can alsoremotely modify the exercise set-up based on patients' progress.

In one implementation, the motion assisting system (e.g. an exoskeleton)can be used as a motion capturing device. The system can comprise afirst motion guiding and detecting device for detecting and/or guidingmotion of a first target joint and at least one additional motionguiding device for detecting and/or guiding motion of another targetjoint. The motion capture system is secured to a user using mountingmeans such as for example straps and orthotics. In this aspect, theactuators of the motion generator and the motion transfer and targetinterfacing unit (if any) may or may not be present. For example, theactuators can be replaced by sensors, e.g. encoders, linear/rotarypotentiometers, etc., and an inverse kinematic algorithm programmed inthe controller can use the data to calculate the accurate orientation ofthe human target joints and the body segments' position. For example,FIG. 26 depicts an embodiment of a motion assistance system 9500 used asa full-body motion capture device. The system 9500 can comprise aplurality of motion guiding devices (e.g. devices 3000) that can beattached by an non-intrusive means to the human body surrounding theneck 137, shoulders 138, elbows 139, wrist 140, lower back 141, hips142, knees 143, and ankles 144. The motion guiding and detecting devicesin such system 9500 may not include actuators but rather the activejoints can be substituted with passive equivalents. So, the user canproduce a motion to any or all of the joint targets and the plurality ofsensors can detect such motion (produced by the user) by measuring themotion (position and orientation) of the passive joints of the motioncapturing system 9500 and the controller can calculate the target jointsmotion using an algorithm programmed in the controller. In someembodiments of the system 9500 the controller 28 may also be omitted andthe motion data can be temporarily stored in the motion detection andfeedback unit 35 of each device 3000, and later transferred to acomputer (an external controller) for further processing. Alternatively,in another embodiment, the active joints of the motion guiding anddetecting devices 3000 and the controller(s) 28 may not be omitted andthe system 9500 can communicate with an external Virtual Reality (VR) oran Augmented Reality (AR) system. An additional controller can be incommunication with the first motion guiding and detecting device and theat least one additional motion guiding and detecting device tocoordinate guidance of the multiple targets. The motion detection andfeedback unit(s) can be in communication with the external virtual oraugmented reality systems. In this case, the actuators do not create anyresistance until the user physically contacts something in the virtualor augmented reality environment, at which time the actuators engage toemulate a tactile response (e.g. force feedback) to a virtual entity.For example, this embodiment can by applied in the gaming industry wherea gamer may need to have a better interaction with the environment. Thecontroller can be pre-programmed to command the actuators to resistmotions in certain directions/orientations or to apply forces in certaindirections/orientations. The system 9500 can also be used in trainingapplications, such as sports, where inaccurate/incorrect motions will berestricted while the accurate/correct motions will be facilitated (ornot interfered) by the exoskeleton.

In one implementation, the device 1000, 2000, 3000 or the motionassistance system can be used for a motion augmentation. For example,the user can benefit from the extra power that the system (e.g.exoskeleton) can provide for commuting longer distances and carryingheavier loads. In such implementation, the whole exoskeleton or itssubcomponents (individual motion guiding and detecting devices) can beindividually employed for the motion augmentation depending on eachspecific application. In this arrangement, sensors such as IMU, forcesensors (e.g. measuring foot pressure), EMG, ECG, encoders, etc. will beused to identify user intentions. Based on that, the controller willgenerate commands for the actuators to produce torques to assist humanjoints and muscles in producing the motion

In another embodiment, the actuators can be replaced by lockable joints.In this arrangement, an operator can manually move the structure to bepositioned until the desired position is achieved while the motionguiding device is attached. The actuators will not create any resistanceagainst the motion until the desired position is reached. The operatorcan then lock the lockable joints to maintain the position.

In another embodiment, the full body exoskeleton or its subcomponents,e.g. hip subcomponent, can be used as a fall prevention device, wherethe controller can comprise a balance detection algorithm which canmonitor the users gait via signals received from sensors, such as one ormore encoders, IMU systems, foot force sensors etc. The controller willthen command the exoskeleton or its subcomponents to force the lowerbody to move into a position which increase the stability of the user.The system can be active or passive during other normal mobilityactions.

While particular elements, embodiments and applications of the presentdisclosure have been shown and described, it will be understood, thatthe scope of the disclosure is not limited thereto, since modificationscan be made by those skilled in the art without departing from the scopeof the present disclosure, particularly in light of the foregoingteachings. Thus, for example, in any method or process disclosed herein,the acts or operations making up the method/process may be performed inany suitable sequence and are not necessarily limited to any particulardisclosed sequence. Elements and components can be configured orarranged differently, combined, and/or eliminated in variousembodiments. The various features and processes described above may beused independently of one another, or may be combined in various ways.All possible combinations and sub-combinations are intended to fallwithin the scope of this disclosure. Reference throughout thisdisclosure to “some embodiments,” “an embodiment,” or the like, meansthat a particular feature, structure, step, process, or characteristicdescribed in connection with the embodiment is included in at least oneembodiment. Thus, appearances of the phrases “in some embodiments,” “inan embodiment,” or the like, throughout this disclosure are notnecessarily all referring to the same embodiment and may refer to one ormore of the same or different embodiments. Indeed, the novel methods andsystems described herein may be embodied in a variety of other forms;furthermore, various omissions, additions, substitutions, equivalents,rearrangements, and changes in the form of the embodiments describedherein may be made without departing from the spirit of the inventionsdescribed herein.

Various aspects and advantages of the embodiments have been describedwhere appropriate. It is to be understood that not necessarily all suchaspects or advantages may be achieved in accordance with any particularembodiment. Thus, for example, it should be recognized that the variousembodiments may be carried out in a manner that achieves or optimizesone advantage or group of advantages as taught herein withoutnecessarily achieving other aspects or advantages as may be taught orsuggested herein.

Conditional language used herein, such as, among others, “can,” “could,”“might,” “may,” “e.g.,” and the like, unless specifically statedotherwise, or otherwise understood within the context as used, isgenerally intended to convey that certain embodiments include, whileother embodiments do not include, certain features, elements and/orsteps. Thus, such conditional language is not generally intended toimply that features, elements and/or steps are in any way required forone or more embodiments or that one or more embodiments necessarilyinclude logic for deciding, with or without operator input or prompting,whether these features, elements and/or steps are included or are to beperformed in any particular embodiment. No single feature or group offeatures is required for or indispensable to any particular embodiment.The terms “comprising,” “including,” “having,” and the like aresynonymous and are used inclusively, in an open-ended fashion, and donot exclude additional elements, features, acts, operations, and soforth. Also, the term “or” is used in its inclusive sense (and not inits exclusive sense) so that when used, for example, to connect a listof elements, the term “or” means one, some, or all of the elements inthe list.

The example results and parameters of the embodiments described hereinare intended to illustrate and not to limit the disclosed embodiments.Other embodiments can be configured and/or operated differently than theillustrative examples described herein.

1. A motion capture system comprising: (a) a moving component; (b) aplurality of joints interconnected together, wherein a coordinatedaction of the plurality of joints generate a three degree-of-freedom(3-DOF) rotational motion at the moving component with a first center ofrotation; (c) a motion transfer and target interfacing unit adapted tobe functionally coupled to the moving component and to a target joint,the motion transfer and target interfacing unit comprising at least onelinear-motion joint comprising a sliding component and a trackcomponent, wherein the sliding component is configured to slide alongthe track component, and one or more additional joints, wherein themotion transfer and target interfacing unit is configured to transfer amotion generated by the target joint to provide a 3-DOF rotationalmotion at the moving component; (d) a mounting means to couple themotion transfer and interfacing unit to the target joint; (e) aplurality of sensors in communication with the plurality of joints, theone or more additional joints and/or the at least one linear-motionjoint of the motion transfer and target interfacing unit to detect theirposition and/or an orientation and a position and/or an orientation ofthe moving component; and (f) a controller in communication with theplurality of sensors the controller comprising an input unit, an outputunit and a processing unit, the input unit configured to receive theinput signal from the plurality of the sensors of the position and/ororientation of the plurality of joints, the one or more additionaljoints and the at least one linear-motion joint of the motion transferand target interfacing unit and the moving component, whereby the firstcenter of rotation does not coincide with a center of rotation of thetarget joint, and wherein the controller is programmed to calculate aposition and/or orientation of the target joint based on the positionand/or orientation of the plurality of joints, the one or moreadditional joints of the motion transfer and the at least onelinear-motion joint target interfacing unit and the moving component. 2.The system of claim 1, wherein the plurality of sensors comprises aninertial measurement unit, a rotary encoder, a linear encoder, a rotarypotentiometer, a linear potentiometer, a resolver, a linear variabledifferential transformer, an electromyograph, an electroencephalograph,a force sensor, a pressure sensor, or a combination thereof.
 3. Thesystem of claim 1, further comprising a driver unit in communicationwith the controller and the at least one of the plurality of joints togenerate motion in said at least one of the plurality of joints.
 4. Thesystem of claim 3, wherein the driver unit is in communication with theat least one of the additional joints and/or the at least onelinear-motion joint of the motion transfer and target interfacing unitto generate motion in said at least one additional joints and/or atleast one linear-motion joint.
 5. The system of claim 1, furthercomprising a driver unit in communication with the controller and the atleast one of the additional joints and/or the at least one linear-motionjoint of the motion transfer and target interfacing unit to generatemotion in said at least one additional joints and/or at least onelinear-motion joint.
 6. The system of claim 3, wherein the controllersends output signal to the driver unit to generate motion in the atleast one of the plurality of joints.
 7. The system of claim 5, whereinthe controller sends output signal to the driver unit to generate motionin the at least one of the additional joints and/or the at least onelinear-motion joint of the motion transfer and target interfacing unit.8. The system of claim 1, wherein the joints in the plurality of jointsare selected from a rotary joint and a linear joint.
 9. The system ofclaim 1, wherein the one or more additional joints of the motiontransfer and target interfacing unit is selected from a rotary joint anda linear joint.
 10. The system of claim 1, wherein the target jointcomprises a 3-DOF rotational joint or a quasi 3-DOF rotational joint.11. The system of claim 10, wherein the target joint is a human joint.12. The system of claim 11, wherein the target joint is at least one ofa hip joint, a knee joint, an ankle joint, a shoulder joint, an elbowjoint, a wrist joint or a finger joint.
 13. The system of claim 1,wherein the mounting means comprises at least one adjustable strap andat least one orthotic.
 14. The system of claim 1, wherein the at leastone linear-motion joint of the motion transfer and target interfacingunit is a cylindrical joint, the cylindrical joint providing a rotatingmotion and a linear motion.
 15. The system of claim 1, wherein thecontroller is external and further comprising a motion detection andfeedback unit in communication with the plurality of sensors to receiveand store data of the position and/or orientation of the plurality ofjoints, the one or more additional joints and/or the at least onelinear-motion joint and transfer such data to the external controller.16. The system of claim 1, wherein the controller further comprises acommunication means for connecting to a second motion capture systemconnected to a second target joint, the controller configure tocalculate position and/or orientation of both target joints.
 17. Thesystem of claim 1, further comprising an external Virtual Reality (VR)or an Augmented Reality (AR) system, the controller being incommunication with the VR or the AR system.
 18. The system of claim 3,wherein the controller is configured to control the driver unit toresist motions of the at least one of the plurality of joints in one ormore directions and/or one or more orientations or to apply forces tothe at least one of the plurality of joints in one or more directionsand/or orientations.
 19. The system of claim 5, wherein the controlleris configured to control the driver unit to resist motions of the atleast one of the additional joints and/or the at least one linear-motionjoint of the motion transfer and target interfacing unit in one or moredirections and/or one or more orientations or to apply forces to the atleast one of the additional joints and/or the at least one linear-motionjoint of the motion transfer and target interfacing unit in one or moredirections and/or orientations.